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Fix incorrect obs dim in draw_agent_obs #109

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Merged
merged 4 commits into from
Nov 15, 2025
Merged

Fix incorrect obs dim in draw_agent_obs #109

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12864fa
Fix incorrect obs dim in draw_agent_obs
eugenevinitsky Nov 1, 2025
7b50d27
Update drive.h
eugenevinitsky Nov 2, 2025
a3ad1ab
Merge branch 'main' into ev/fix_draw_obs
eugenevinitsky Nov 2, 2025
0908f5d
Merge branch 'main' of https://github.com/Emerge-Lab/PufferDrive into…
daphne-cornelisse Nov 15, 2025
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5 changes: 3 additions & 2 deletions pufferlib/ocean/drive/drive.h
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Original file line number Diff line number Diff line change
Expand Up @@ -2352,7 +2352,8 @@ void draw_agent_obs(Drive* env, int agent_index, int mode, int obs_only, int las
return;
}

int max_obs = 10 + 7*(MAX_AGENTS - 1) + 7*MAX_ROAD_SEGMENT_OBSERVATIONS;
int ego_dim = (env->dynamics_model == JERK) ? 10 : 7;
int max_obs = ego_dim + 7*(MAX_AGENTS - 1) + 7*MAX_ROAD_SEGMENT_OBSERVATIONS;
float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
float* agent_obs = &observations[agent_index][0];
// self
Expand All @@ -2376,7 +2377,7 @@ void draw_agent_obs(Drive* env, int agent_index, int mode, int obs_only, int las
DrawCircle3D((Vector3){goal_x_world, goal_y_world, 0.1f}, env->goal_radius, (Vector3){0, 0, 1}, 90.0f, Fade(LIGHTGREEN, 0.3f));
}
// First draw other agent observations
int obs_idx = 10; // Start after ego obs
int obs_idx = ego_dim; // Start after ego obs
for(int j = 0; j < MAX_AGENTS - 1; j++) {
if(agent_obs[obs_idx] == 0 || agent_obs[obs_idx + 1] == 0) {
obs_idx += 7; // Move to next agent observation
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